A Lie-group formulation of kinematics and dynamics of constrained MBS and its application to analytical mechanics

DOI10.1023/A:1023321630764zbMath1021.70003OpenAlexW347387333MaRDI QIDQ1810797

Publication date: 9 June 2003

Published in: Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1023/a:1023321630764

zbMATH Keywords

kinematics dynamics singularities holonomic constraints Lagrangian equations of motion rigid multibody systems closed kinematic chains Lie-group formulations open kinematic chains screw algebraic methods

Mathematics Subject Classification ID

Kinematics of a rigid body (70B10) Holonomic systems related to the dynamics of a system of particles (70F20) Dynamics of multibody systems (70E55) Symmetries, Lie group and Lie algebra methods for problems in mechanics (70G65)

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